Palo Alto police say a suspect armed with a knife was killed Friday night when officers opened fire after the suspect charged at officers.

The man was identified by Palo Alto police on Monday as 31-year-old William David Raff. Lt. Zach Perron told NBC Bay Area Raff's death marks the first fatal shooting involving a Palo Alto police officer since 2002.

Officers responded about 9:15 p.m. to a home in the 600 block of Forest Avenue after receiving a phony 911 call intended to lure police to the area, authorities said Saturday.

"The suspect said that there was a person at the residence who wanted to harm someone, and provided a name of that alleged person. No one by that name was present," Palo Alto police said in a statement released Saturday afternoon.

Forest Avenue between Middlefield Road and Webster Street was closed as investigators with the Santa Clara County District Attorney's Office responded to the scene to conduct a parallel investigation with the Palo Alto Police Department.

In the 2002 case, a Palo Alto police officer and a Santa Clara County Sheriff's deputy fatally shot 20-year-old Pedro Calderon of East Palo on Stanford Avenue, whom they suspected of burglary. No charges were filed against the officer or the deputy in that case.